/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials provided
 *    with the distribution.
 *  * Neither the name of Willow Garage, Inc. nor the names of its
 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROS_ARDUINO_TCP_HARDWARE_H_
#define ROS_ARDUINO_TCP_HARDWARE_H_

#include <Arduino.h>

#if defined(ESP8266)
#include <ESP8266WiFi.h>
#elif defined(ESP32)
#include <WiFi.h> // Using Espressif's WiFi.h
#else

#include <SPI.h>
#include <Ethernet.h>

#endif

#include <IPAddress.h>
#include<STM32Ethernet.h>

class ArduinoHardware {
public:
    ArduinoHardware() {
    }

    void setConnection(IPAddress &server, int port = 11411) {
        server_ = server;
        serverPort_ = port;
    }

    IPAddress getLocalIP() {
#if defined(ESP8266) or defined(ESP32)
        return tcp_.localIP();
#else
        return Ethernet.localIP();
#endif
    }

    void init() {
        if (tcp_.connected()) {
            tcp_.stop();
        }
        tcp_.connect(server_, serverPort_);
    }

    int read() {
        if (tcp_.connected()) {
            return tcp_.read();
        } else {
            tcp_.stop();
            tcp_.connect(server_, serverPort_);
        }
        return -1;
    }

    void write(const uint8_t *data, int length) {
        tcp_.write(data, length);
    }

    unsigned long time() {
        return millis();
    }

    bool connected() {
        return tcp_.connected();
    }

protected:
#if defined(ESP8266) or defined(ESP32)
    WiFiClient tcp_;
#else
    EthernetClient tcp_;
#endif
    IPAddress server_;
    uint16_t serverPort_ = 11411;
};

#endif
